Application: pHydroMAN_SensorFusion

Brief Synopsis:

An EKF based sensor fusion app for AUV navigation.

Authors:

  • Supun Randeni

Groups:

Distribution:

Documentation:

Contact Email:

  • supun@mit.edu

Function:

pHydroMAN_SensorFusion is one of the core apps of Hydroman Toolbox, which fuses navigation sensor measurements (i.e. including DVL bottom/ice – track measurements, acoustic position updates and INS data) with a vehicle dynamic model to compute a low-drift localization and navigation solution. Sensor fusion and state estimation is achieved with an EKF, and a secondary EKF is in place to estimate the sensor error states (i.e. to estimate bias errors of DVL, INS and dynamic model). The essential purpose of this app is similar to that of the pNav code written by Prof. Paul Newman.